A method and system for external field global calibration of a visual tracking measurement system
A measurement system and visual tracking technology, applied in image analysis, instruments, calculations, etc., can solve problems such as difficult to obtain accuracy, time-consuming adjustment, and low leveling accuracy of jack legs, so as to improve the accuracy of calculation and facilitate calculation and the effect of evaluating and reducing errors
Active Publication Date: 2022-03-25
BEIHANG UNIV
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Problems solved by technology
[0005] The leveling accuracy of the jack legs is usually not high, and the adjustment is time-consuming and cumbersome
Therefore, the coordinate system conversion algorithm based on the basic assumption of visual tracking measurement system leveling is difficult to obtain ideal accuracy.
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[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0058] The purpose of the present invention is to provide a global calibration method and system for the visual tracking measurement system, which can eliminate the need for leveling the visual tracking measurement system and ensure the calibration accuracy of the visual tracking measurement system.
[0059] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be furth...
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The invention relates to an outfield global calibration method and system of a vision tracking measurement system. The method comprises: a virtual omnidirectional camera model constructed according to a two-degree-of-freedom turntable and an automatic long-zoom camera; obtaining the three-dimensional coordinates of a control point in the scene to be measured in the WGS-84 coordinate system and the orientation of the two-degree-of-freedom turntable corresponding to the control point Angle and pitch angle; convert the three-dimensional coordinates of the control point in the WGS-84 coordinate system to the three-dimensional coordinates in the center of mass coordinate system; use the virtual omnidirectional camera model to convert the azimuth and pitch angle into virtual image coordinates; according to the control point The virtual image coordinates of the virtual image and the three-dimensional coordinates in the center of mass coordinate system are used to establish a factorized linear equation; according to the factorized linear equation, the pose of the two-degree-of-freedom turntable corresponding to the control point in the center of mass coordinate system is determined, and then the position in the center of mass coordinate system The pose is converted to the pose in the northeast sky coordinate system. The invention can eliminate the need of leveling the visual tracking measurement system and ensure the calibration accuracy of the visual tracking measurement system.
Description
technical field [0001] The invention relates to the field of virtual omnidirectional camera models, in particular to a global calibration method and system for an external field of a visual tracking measurement system. Background technique [0002] The visual tracking measurement system can calculate the position, speed, attitude and other information of the target. On the basis of obtaining the target GPS position information in advance, the target can also be tracked and guided in real time. [0003] In the above two cases, it is necessary to solve the pose of the body coordinate system of the visual tracking measurement system in the local earth coordinate system. The accuracy of pose transformation directly affects the accuracy of target measurement and the effect of real-time tracking and guidance. [0004] Vision tracking measurement systems are generally equipped with jack legs. Most of the previous methods first level the visual tracking measurement system by adju...
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IPC IPC(8): G06T7/80G06T7/73
CPCG06T7/80G06T7/73
Inventor 魏振忠柴斌虎刘福林张广军
Owner BEIHANG UNIV